US6819284B2 - System for assisting the parking of motor vehicles in parking spaces - Google Patents

System for assisting the parking of motor vehicles in parking spaces Download PDF

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Publication number
US6819284B2
US6819284B2 US10/229,179 US22917902A US6819284B2 US 6819284 B2 US6819284 B2 US 6819284B2 US 22917902 A US22917902 A US 22917902A US 6819284 B2 US6819284 B2 US 6819284B2
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Prior art keywords
vehicle
parking
transmitter
vehicle body
common housing
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US10/229,179
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US20030058132A1 (en
Inventor
Dietmar Maier
Frank Gensler
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Assigned to BAYERISCHE MOTOREN WERKE AG reassignment BAYERISCHE MOTOREN WERKE AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GENSLER, FRANK, MAIER, DIETMAR
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • H01Q1/3283—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle side-mounted antennas, e.g. bumper-mounted, door-mounted
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

  • the invention relates to a system for assisting the parking of motor vehicles in parking spaces, having at least one transmitter, which is arranged on the exterior side of the vehicle, for a transmitted signal emitted at least approximately perpendicularly to the longitudinal axis of the vehicle and limited to a small emission angle (beam angle) range, and an assigned receiver for the reflected signal.
  • Various known systems for assisting the parking of vehicles in parking spaces provide at least one distance sensor for measuring parking spaces.
  • the distance sensor is mounted on the vehicle side facing the curb and, perpendicular to the driving direction, while passing, measures the length (compare German Patent Document DE 3728948 A) and optionally, in the case of limited-depth parking spaces (for example, as a result of the curb), also their depth.
  • ultrasonic and radar distance measuring systems such as 24 GHz systems
  • conical beam lobes are used as distance sensors.
  • beam angles of approximately 60° are used.
  • a distance sensor in this case is a transmitter/receiver having an electronic analyzing system on its output side.
  • the described distance sensors operate using relatively large wavelengths (for example, 12.5 mm@24 GHz and 8.6 mm@40 kHz US). As a result, irradiated objects, which have a degree of roughness below this wavelength, reflect the irradiation like ideal mirrors.
  • the sensors supply only distance-related information and no directional information, objects captured in the beam cone must be positioned on the beam axis.
  • the estimation of the direction by means of triangulation when two or more sensors are used will be successful only if precisely the same object site is measured. This cannot be done by means of objects reflecting in the manner of a mirror because here only perpendicularly impinging radiation is reflected back into the receiver.
  • the measuring of parking spaces has two basic problems: First, the geometrical shape of the parking space boundaries (box-shaped or rounded) influences the longitudinal measurement; second, there is the indistinguishability between relevant raised objects (for example, posts or vehicles) and irrelevant road-related objects (small stones, lawn rocks). Also, a differentiation between these object classes cannot be achieved by a triangulation of sensors arranged horizontally side-by-side.
  • the detection of the parking space depth requires relatively large beam angles of the sensor lobe(s). However, this reduces the positional precision and the directional accuracy for the longitudinal measuring.
  • the front of the rearward boundary is still seen in the rear view when the axis of the sensor lobe has already left it; the rear side of the forward boundary is already detected in the front view before the axis of the sensor lobe is at its height. This has the result that the measured space length seems smaller than it is. This deviation becomes more serious as a wider transmitter beam lobe is selected.
  • the invention achieves this object by providing a system for assisting the parking of motor vehicles in parking spaces, having at least one transmitter, which is arranged on the exterior side of the vehicle, for a transmitted signal emitted at least approximately perpendicularly to the longitudinal axis of the vehicle and limited to a small emission angle range, and an assigned receiver for the reflected signal.
  • the transmitted signal is formed of two partial beams, which have approximately flat surface area emission characteristics, the two areas being situated at least approximately perpendicular with respect to one another.
  • An adjacent arrangement of two distance sensors 1 and 2 preferably disposed in a common housing at a forward corner point of the motor vehicle, which distance sensors 1 and 2 supply two transmitted signals of a different beam geometry and together generate a “cross lobe”, can clearly reduce the two above-mentioned basic problems.
  • ultrasonic sensors are preferably considered for this purpose, but naturally the principle analogously applies to radar sensors.
  • FIG. 1 is a diagrammatic illustration of an adjacent arrangement of two distance sensors in accordance with the present invention
  • FIG. 2 is a diagram illustrating a vehicle's use of the present invention.
  • FIG. 3 is a diagram illustrating the operation of the present invention.
  • the sensor 1 has a narrow (approximately 10° to 20°) beam lobe 1 ′ in the horizontal direction, and a wide (approximately 30° to 60°) beam lobe 1 ′ in the vertical direction.
  • the beam lobe can be approximated as an area whose normal line extends horizontally in the driving direction.
  • Sensor 2 has the same geometrical configuration, but is rotated by 90° (beam lobe 2 ′).
  • the axes of both sensors point horizontally parallel at a right angle to the driving direction.
  • the area normals of the two sensors are perpendicular to one another. Instead of the illustrated construction, the area normals can also be inclined by 45° respectively against the driving direction.
  • the vertical alignment of the center axes of the beam lobes 1 ′ and 2 ′ is a function of the installation height of the sensors 1 and 2 and is ideally selected such that the lobe 2 ′ impinges on the road surface with a noticeable intensity only at a larger distance from the vehicle.
  • this has the advantage of preventing the occurrence of ground echoes, for example, as a result of gravel, manholes or other road-related objects.
  • the beam lobe 2 ′ looks beyond these objects and only detects objects which are at a greater distance from the vehicle. Depending on the installation height, it is therefore possible to not detect a curb or to detect it only starting at a certain height.
  • the beam lobe 1 ′ expanded in the vertical direction will impinge upon the road surface with a noticeable intensity already at a short distance from the sensor.
  • small stones situated there will become noticeable as objects detected by the sensor 1 .
  • the distance values of these objects fluctuate depending on the distribution of the objects on the ground, whereas curbs passed along longer routes by the vehicle result in uniform distance values. If the sensor 1 therefore detects objects which fluctuate with respect to the distance, and sensor 2 , which looks beyond these objects, determines no object information or uniform distance information at a larger distance, it can be assumed that the parking space is accessible for parking the vehicle.
  • the shape of the parking space boundaries (angular or rounded) can be determined.
  • the rearward parking space boundaries are box-shaped. While driving past the parking space (see passing direction arrow), the sensor 1 supplies almost the same object information as the sensor 2 because the surface area of the lateral surface of the parking space boundaries irradiated in the reflection direction is almost indistinguishable for the two sensors. Then, after passing the front side of the parking space boundary, virtually no surface elements will be in the reflection direction any longer for both sensors, hence, the intensity of the distance signals drop off abruptly for both sensors.
  • the parking space starts at S. Because of the rear view, the distance D measured there is already larger than D 0 . Depending on the geometrical shape, the sensor 1 with the horizontally narrower lobe no longer already finds any surface fractions there based on the reflections; however, the ground signal (clutter) rises clearly from distances greater than D 0 . The path-dependent development of this ground potential therefore offers a correction possibility for determining the end of the parking space boundary.
  • An avoidance of a mutual influencing of the two sensors can be ensured by the selection of slightly different operating frequencies, an alternating method of operation or suitable modulation processes.
  • the measuring precision for the parking space length is influenced much less by different geometrical parking space boundary shapes.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A system is provided for assisting with parking of motor vehicles in parking spaces, having at least one transmitter, arranged on the exterior side of the vehicle for transmitting a signal emitted at least approximately perpendicularly to the longitudinal axis of the vehicle and limited to a small emission angle range, and an assigned receiver for the reflected signal. The transmitted signal is formed of two partial beams having approximately flat surface area emission characteristics, the two areas being situated at least approximately perpendicular with respect to one another.

Description

BACKGROUND AND SUMMARY OF THE INVENTION
This application claims the priority of German Application No. 101 46 712.5, filed Sep. 21, 2001, the disclosure of which is expressly incorporated by reference herein.
The invention relates to a system for assisting the parking of motor vehicles in parking spaces, having at least one transmitter, which is arranged on the exterior side of the vehicle, for a transmitted signal emitted at least approximately perpendicularly to the longitudinal axis of the vehicle and limited to a small emission angle (beam angle) range, and an assigned receiver for the reflected signal.
Various known systems for assisting the parking of vehicles in parking spaces provide at least one distance sensor for measuring parking spaces. The distance sensor is mounted on the vehicle side facing the curb and, perpendicular to the driving direction, while passing, measures the length (compare German Patent Document DE 3728948 A) and optionally, in the case of limited-depth parking spaces (for example, as a result of the curb), also their depth. In this case, ultrasonic and radar distance measuring systems (such as 24 GHz systems) with conical beam lobes are used as distance sensors. Because of the cross-sectional area of the antenna, in the case of the radar systems, beam angles of approximately 60° are used. In the case of less expensive ultrasonic systems, smaller angles can also be used. A distance sensor in this case is a transmitter/receiver having an electronic analyzing system on its output side.
In contrast to light, the described distance sensors operate using relatively large wavelengths (for example, 12.5 mm@24 GHz and 8.6 mm@40 kHz US). As a result, irradiated objects, which have a degree of roughness below this wavelength, reflect the irradiation like ideal mirrors.
Since the sensors supply only distance-related information and no directional information, objects captured in the beam cone must be positioned on the beam axis. However, the estimation of the direction by means of triangulation when two or more sensors are used will be successful only if precisely the same object site is measured. This cannot be done by means of objects reflecting in the manner of a mirror because here only perpendicularly impinging radiation is reflected back into the receiver.
The measuring of parking spaces has two basic problems: First, the geometrical shape of the parking space boundaries (box-shaped or rounded) influences the longitudinal measurement; second, there is the indistinguishability between relevant raised objects (for example, posts or vehicles) and irrelevant road-related objects (small stones, lawn rocks). Also, a differentiation between these object classes cannot be achieved by a triangulation of sensors arranged horizontally side-by-side.
The detection of the parking space depth (curb detection) requires relatively large beam angles of the sensor lobe(s). However, this reduces the positional precision and the directional accuracy for the longitudinal measuring. In the case of rounded parking space boundaries, the front of the rearward boundary is still seen in the rear view when the axis of the sensor lobe has already left it; the rear side of the forward boundary is already detected in the front view before the axis of the sensor lobe is at its height. This has the result that the measured space length seems smaller than it is. This deviation becomes more serious as a wider transmitter beam lobe is selected.
It is an object of the invention to provide a parking assistance system for parking vehicles in parking spaces of the above-mentioned type which, with low expenditures, results in reliable information concerning the actual shape of a parking space.
The invention achieves this object by providing a system for assisting the parking of motor vehicles in parking spaces, having at least one transmitter, which is arranged on the exterior side of the vehicle, for a transmitted signal emitted at least approximately perpendicularly to the longitudinal axis of the vehicle and limited to a small emission angle range, and an assigned receiver for the reflected signal. The transmitted signal is formed of two partial beams, which have approximately flat surface area emission characteristics, the two areas being situated at least approximately perpendicular with respect to one another.
An adjacent arrangement of two distance sensors 1 and 2, preferably disposed in a common housing at a forward corner point of the motor vehicle, which distance sensors 1 and 2 supply two transmitted signals of a different beam geometry and together generate a “cross lobe”, can clearly reduce the two above-mentioned basic problems. For reasons of cost, ultrasonic sensors are preferably considered for this purpose, but naturally the principle analogously applies to radar sensors.
Other objects, advantages and novel features of the present invention will become apparent from the following detailed description of the invention when considered in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagrammatic illustration of an adjacent arrangement of two distance sensors in accordance with the present invention;
FIG. 2 is a diagram illustrating a vehicle's use of the present invention; and
FIG. 3 is a diagram illustrating the operation of the present invention.
DETAILED DESCRIPTION OF THE DRAWINGS
Referring to the figures, the sensor 1 has a narrow (approximately 10° to 20°) beam lobe 1′ in the horizontal direction, and a wide (approximately 30° to 60°) beam lobe 1′ in the vertical direction. The beam lobe can be approximated as an area whose normal line extends horizontally in the driving direction. Sensor 2 has the same geometrical configuration, but is rotated by 90° (beam lobe 2′). The axes of both sensors point horizontally parallel at a right angle to the driving direction. The area normals of the two sensors are perpendicular to one another. Instead of the illustrated construction, the area normals can also be inclined by 45° respectively against the driving direction.
The vertical alignment of the center axes of the beam lobes 1′ and 2′ is a function of the installation height of the sensors 1 and 2 and is ideally selected such that the lobe 2′ impinges on the road surface with a noticeable intensity only at a larger distance from the vehicle. In contrast to the above-mentioned known systems with a conical beam lobe, this has the advantage of preventing the occurrence of ground echoes, for example, as a result of gravel, manholes or other road-related objects. The beam lobe 2′ looks beyond these objects and only detects objects which are at a greater distance from the vehicle. Depending on the installation height, it is therefore possible to not detect a curb or to detect it only starting at a certain height.
The beam lobe 1′ expanded in the vertical direction, will impinge upon the road surface with a noticeable intensity already at a short distance from the sensor. Thus, for example, small stones situated there will become noticeable as objects detected by the sensor 1. Generally, the distance values of these objects fluctuate depending on the distribution of the objects on the ground, whereas curbs passed along longer routes by the vehicle result in uniform distance values. If the sensor 1 therefore detects objects which fluctuate with respect to the distance, and sensor 2, which looks beyond these objects, determines no object information or uniform distance information at a larger distance, it can be assumed that the parking space is accessible for parking the vehicle.
By comparing the distance-dependent backscattering amplitudes of the two sensors 1 and 2 while driving past an obstacle or, as illustrated in FIG. 2, a parked vehicle 3, the shape of the parking space boundaries (angular or rounded) can be determined.
With reference to FIG. 3, the method of operation of the system according to the invention will be explained in greater detail.
It is assumed that the rearward parking space boundaries are box-shaped. While driving past the parking space (see passing direction arrow), the sensor 1 supplies almost the same object information as the sensor 2 because the surface area of the lateral surface of the parking space boundaries irradiated in the reflection direction is almost indistinguishable for the two sensors. Then, after passing the front side of the parking space boundary, virtually no surface elements will be in the reflection direction any longer for both sensors, hence, the intensity of the distance signals drop off abruptly for both sensors.
However, if the front side of the rearward parking space boundary is rounded, then after passing its front surface, the backscattered intensity of sensor 1 will drop off significantly faster as a result of the increased focusing in the horizontal direction than that of sensor 2 which, by because of its horizontally wide lobe, still detects the rounded boundary longer in the rear view.
In FIG. 3, the parking space starts at S. Because of the rear view, the distance D measured there is already larger than D0. Depending on the geometrical shape, the sensor 1 with the horizontally narrower lobe no longer already finds any surface fractions there based on the reflections; however, the ground signal (clutter) rises clearly from distances greater than D0. The path-dependent development of this ground potential therefore offers a correction possibility for determining the end of the parking space boundary.
The corresponding situation applies to the detection of the rear side of the forward parking space boundary.
An avoidance of a mutual influencing of the two sensors can be ensured by the selection of slightly different operating frequencies, an alternating method of operation or suitable modulation processes.
As a result of a combination of two inexpensive sensors 1 and 2, an operating capacity will be achieved, which alternatively could only be achieved at significantly higher-expenditures and with more expensive sensors (e.g., multibeam or scanner systems). The measuring precision for the parking space length is influenced much less by different geometrical parking space boundary shapes.
This increases the utilization ratio of driver assistance systems based on this measurement, by means of which, for example, the parking maneuvers can be assisted or automatically implemented.
The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.

Claims (8)

What is claimed is:
1. A motor vehicle, comprising:
a vehicle body having an exterior side;
a parking assistance system for the vehicle, the parking assistance system including at least one transmitter arrangeable on an exterior side of a vehicle, the transmitter transmitting a signal at least approximately perpendicular to a longitudinal axis of the vehicle, this signal having a small beam angle range;
a receiver associated with the transmitter to receive reflected signals;
wherein the transmitted signal is formed of two partial beams having approximately flat surface area emission characteristics, the two surface areas being situated at least approximately perpendicular with respect to one another.
2. The system according to claim 1, wherein each partial beam has an area normal, one of the area normals being oriented horizontally and another being oriented vertically.
3. The system according to claim 1, wherein the two partial beams are generated by separate transmitters, the transmitters being arranged in a common housing.
4. The system according to claim 2, wherein the two partial beams are generated by separate transmitters, the transmitters being arranged in a common housing.
5. The vehicle according to claim 1, wherein the transmitter is arranged at a forward corner point of the vehicle body.
6. The vehicle according to claim 2, wherein the transmitter is arranged at a forward corner point of the vehicle body.
7. The vehicle according to claim 3, wherein the common housing is arranged at a forward corner point of the vehicle body.
8. The vehicle according to claim 4, wherein the common housing is arranged at a forward corner point of the vehicle body.
US10/229,179 2001-09-21 2002-08-28 System for assisting the parking of motor vehicles in parking spaces Expired - Fee Related US6819284B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10146712A DE10146712A1 (en) 2001-09-21 2001-09-21 Parking aid device for motor vehicles
DE10146712.5 2001-09-21
DE10146712 2001-09-21

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US20030058132A1 US20030058132A1 (en) 2003-03-27
US6819284B2 true US6819284B2 (en) 2004-11-16

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EP (1) EP1296412B1 (en)
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US20030210173A1 (en) * 2002-05-08 2003-11-13 Daimlerchrysler Ag Device for searching a parking space
US20050285758A1 (en) * 2004-06-23 2005-12-29 Denso Corporation Parking assistance system
US20060287829A1 (en) * 2005-06-15 2006-12-21 Dimitri Pashko-Paschenko Object proximity warning system
US20080086268A1 (en) * 2006-10-06 2008-04-10 Toyota Engineering & Manufacturing North America, Inc. Object detection apparatus and method
US20090271114A1 (en) * 2008-04-28 2009-10-29 Herbert William J Curb detection device for motor vehicles
US20100274446A1 (en) * 2007-12-18 2010-10-28 Honda Motor Co., Ltd. Vehicular parking feasibility determining system, vehicular parking space detection system and vehicular movable range detection system
US20150177378A1 (en) * 2012-07-24 2015-06-25 Valeo Schalter And Sensoren Gmbh Alternative installation of a concealed ultrasonic sensor in the motor vehicle
US20210199754A1 (en) * 2018-08-29 2021-07-01 Kyocera Corporation Electronic device, control method of electronic device, and control program of electronic device

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